Skip to Main content Skip to Navigation
Book section

Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots Mobile robot

Antonio Franchi 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In this chapter we show and compare several representative examples of human-collaborative schemes in the control of mobile robots, with a particular emphasis on the aerial robot case. We first provide a simplified yet descriptive model of the robot and its interactions. We then use this model to define a taxonomy that highlights the main aspects of these collaboration schemes, such as: the physical domain of the robots, the degree of autonomy, the force interaction with the operator (e.g., the unilateral versus the bilateral haptic shared control), the near-operation versus the teleoperation, the contact-free versus the physically interactive situation, the use of onboard sensors, and the presence of a time-horizon in the operator reference. We then specialize the proposed taxonomy to the multi-robot case in which we further distinguish the methods depending on their level of centralization, the presence of leader-follower schemes, of formation control schemes, the ability to preserve graph theoretical properties, and to perform cooperative physical interaction. The common denominator of all the examples presented in this chapter is the presence of a human operator in the control loop. The main goal of the chapter is to introduce the reader and provide a first-level analysis on the several ways to effectively include human operators in the control of both single and multiple aerial robots and, by extension, of more generic mobile robots.
Document type :
Book section
Complete list of metadata

Cited literature [40 references]  Display  Hide  Download
Contributor : Antonio Franchi <>
Submitted on : Saturday, July 15, 2017 - 4:52:42 PM
Last modification on : Thursday, June 10, 2021 - 3:06:40 AM
Long-term archiving on: : Friday, January 26, 2018 - 10:25:26 PM


Files produced by the author(s)



Antonio Franchi. Human-Collaborative Schemes in the Motion Control of Single and Multiple Mobile Robots Mobile robot. Trends in Control and Decision-Making for Human–Robot Collaboration Systems, pp.301-324, 2017, 978-3-319-40532-2. ⟨10.1007/978-3-319-40533-9⟩. ⟨hal-01562555⟩



Record views


Files downloads